Routing Messages Over a Network of Interconnected Devices of a Networked Control System

1. A method for routing messages over a network of interconnected devices arranged in a grid, each device being configured for routing messages between directly neighbored devices in the grid, the method comprising determining a routing path for a message from a sender device to a destination device through the grid, routing the message from the sender device to the destination device along the determined routing path through the grid, executing by at least one of the devices a change in the routing path according to a predetermined routing rule for routing the message around a faulty device contained in the determined routing path, and wherein the act of executing a change of the routing path according to a predetermined routing rule for routing the message around a faulty device contained in the determined routing path comprises performing the following acts for sending of the message from one device to a neighbored device: a) determining a changed routing direction by application of the predetermined routing rule, b) checking a connection link to the next neighbored device in the changed routing direction, and c) if the connection link is working sending the message to the next neighbored device in the changed routing direction else repeating steps a)-c), wherein the step of determining of the changed routing direction comprises changing the routing direction in a first order of predetermined routing directions up, left, down or the reverse first order if the routing direction of the determined routing path is from right in the grid, changing the routing direction in a second order of predetermined routing directions left, down, right or the reverse second order if the routing direction of the determined routing path is from up in the grid, changing the routing direction in a third order of predetermined routing directions down, right, up or the reverse third order if the routing direction of the determined routing path is from left in the grid, changing the routing direction in a fourth order of predetermined routing directions right, up, left or the reverse fourth order if the routing direction of the determined routing path is from down in the grid.

2. The method of claim 1 , wherein either the order of predetermined routing directions or the reverse order is selected as default order of changing the routing direction and the default order of changing the routing direction is switched to the reverse order if a communication link to the next neighbored device in the selected routing direction of the default order is faulty or no device exists in the selected routing direction.